一种用于在跳动心脏上进行导航和定位的微型移动机器人。
A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart.
作者信息
Patronik Nicholas A, Ota Takeyoshi, Zenati Marco A, Riviere Cameron N
机构信息
N. A. Patronik was with the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA. He is now with St. Jude Medical, St. Paul, MN 55117 USA.
出版信息
IEEE Trans Robot. 2009;25(5):1109-1124. doi: 10.1109/tro.2009.2027375.
Robotic assistance enhances conventional endoscopy; yet, limitations have hindered its mainstream adoption for cardiac surgery. HeartLander is a miniature mobile robot that addresses several of these limitations by providing precise and stable access over the surface of the beating heart in a less-invasive manner. The robot adheres to the heart and navigates to any desired target in a semiautonomous fashion. The initial therapies considered for HeartLander generally require precise navigation to multiple surface targets for treatment. To balance speed and precision, we decompose any general target acquisition into navigation to the target region followed by fine positioning to each target. In closed-chest, beating-heart animal studies, we demonstrated navigation to targets located around the circumference of the heart, as well as acquisition of target patterns on the anterior and posterior surfaces with an average error of 1.7 mm. The average drift encountered during station-keeping was 0.7 mm. These preclinical results demonstrate the feasibility of precise semiautonomous delivery of therapy to the surface of the beating heart using HeartLander.
机器人辅助增强了传统内窥镜检查；然而，其局限性阻碍了它在心脏手术中的广泛应用。HeartLander是一种微型移动机器人，通过以微创方式在跳动的心脏表面提供精确且稳定的通路，解决了其中的几个局限性。该机器人附着在心脏上，并以半自主方式导航至任何所需目标。考虑用于HeartLander的初始治疗通常需要精确导航至多个表面目标进行治疗。为了平衡速度和精度，我们将任何一般目标获取分解为导航至目标区域，然后对每个目标进行精细定位。在闭胸、跳动心脏动物研究中，我们展示了导航至位于心脏圆周周围的目标，以及获取前后表面的目标图案，平均误差为1.7毫米。在驻留期间遇到的平均漂移为0.7毫米。这些临床前结果证明了使用HeartLander向跳动的心脏表面精确半自主输送治疗的可行性。
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